267 lines
12 KiB
Plaintext
267 lines
12 KiB
Plaintext
Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-2.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: barman
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Problem: prob
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Parser: 1968 ground actions and 337 state variables
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Invariants: 0 1 2 3 0.02 secs
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Goal: conjunctive
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Simplified: 1230 ground actions and 234 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 240)
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Plan type: E-step
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Allocated 32 MB permanent (total 130 MB)
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Horizon 0: 234 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 11664 variables
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Allocated 32 MB (total 316 MB)
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5 UNSAT (59 decisions 59 conflicts)
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Horizon 10: 23094 variables
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Horizon 15: 34524 variables
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Horizon 20: 45954 variables
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Horizon 25: 57384 variables
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Horizon 30: 68814 variables
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Horizon 35: 80244 variables
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Horizon 40: 91674 variables
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Horizon 45: 103104 variables
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Horizon 50: 114534 variables
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Horizon 55: 125964 variables
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Horizon 60: 137394 variables
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Horizon 65: 148824 variables
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Horizon 70: 160254 variables
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Horizon 75: 171684 variables
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Horizon 80: 183114 variables
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10 UNSAT (909 decisions 861 conflicts)
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Horizon 85: 194544 variables
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Allocated 32 MB permanent (total 1761 MB)
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Horizon 90: 205974 variables
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Horizon 95: 217404 variables
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Horizon 100: 228834 variables
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Horizon 105: 240264 variables
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Horizon 110: 251694 variables
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GC: 11.65 MB
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15 UNSAT (4725 decisions 3889 conflicts)
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Horizon 115: 263124 variables
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GC: 15.32 MB
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GC: 20.31 MB
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GC: 17.80 MB
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GC: 18.50 MB
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GC: 20.74 MB
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GC: 21.50 MB
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GC: 22.28 MB
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SAT (7452 decisions 3468 conflicts)
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PLAN FOUND: 105 steps
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STEP 0: grasp(right,shot10)
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STEP 1.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 1.1: grasp(left,shot2) leave(right,shot10)
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STEP 2.0: fill-shot(shot2,ingredient2,left,right,dispenser2)
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STEP 2.1: grasp(right,shaker1)
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STEP 3.0: leave(right,shaker1) pour-shot-to-clean-shaker(shot2,ingredient2,shaker1,left,l0,l1)
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STEP 3.1: leave(left,shot2)
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STEP 4: grasp(left,shaker1) grasp(right,shot10)
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STEP 5.0: pour-shot-to-used-shaker(shot10,ingredient3,shaker1,right,l1,l2)
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STEP 5.1: leave(right,shot10)
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STEP 6.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
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STEP 6.1: grasp(right,shot10)
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STEP 7.0: pour-shaker-to-shot(cocktail5,shot1,left,shaker1,l2,l1)
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STEP 7.1: leave(left,shaker1)
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STEP 8: clean-shot(shot10,ingredient3,right,left)
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STEP 9.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
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STEP 9.1: grasp(left,shot2) leave(right,shot10)
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STEP 10.0: refill-shot(shot2,ingredient2,left,right,dispenser2)
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STEP 10.1: grasp(right,shaker1) leave(left,shot2)
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STEP 11: empty-shaker(right,shaker1,cocktail5,l1,l0)
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STEP 12.0: clean-shaker(right,left,shaker1)
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STEP 12.1: grasp(left,shot9) leave(right,shaker1)
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STEP 13.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 13.1: grasp(right,shot6)
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STEP 14.0: leave(right,shot6) pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
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STEP 14.1: leave(left,shot9)
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STEP 15: grasp(left,shot2) grasp(right,shaker1)
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STEP 16.0: pour-shot-to-used-shaker(shot2,ingredient2,shaker1,left,l1,l2)
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STEP 16.1: leave(left,shot2)
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STEP 17.0: shake(cocktail6,ingredient3,ingredient2,shaker1,right,left)
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STEP 17.1: grasp(left,shot2) leave(right,shaker1)
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STEP 18.0: clean-shot(shot2,ingredient2,left,right)
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STEP 18.1: grasp(right,shaker1) leave(left,shot2)
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STEP 19.0: pour-shaker-to-shot(cocktail6,shot2,right,shaker1,l2,l1)
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STEP 19.1: leave(right,shaker1)
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STEP 20: grasp(left,shaker1) grasp(right,shot10)
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STEP 21: empty-shaker(left,shaker1,cocktail6,l1,l0) leave(right,shot10)
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STEP 22.0: clean-shaker(left,right,shaker1)
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STEP 22.1: grasp(right,shot10) leave(left,shaker1)
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STEP 23.0: grasp(left,shot5) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,right,l0,l1)
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STEP 23.1: leave(right,shot10)
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STEP 24.0: fill-shot(shot5,ingredient2,left,right,dispenser2)
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STEP 24.1: grasp(right,shot3) leave(left,shot5)
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STEP 25.0: fill-shot(shot3,ingredient4,right,left,dispenser4)
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STEP 25.1: grasp(left,shaker1)
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STEP 26.0: pour-shot-to-used-shaker(shot3,ingredient4,shaker1,right,l1,l2)
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STEP 26.1: leave(right,shot3)
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STEP 27.0: shake(cocktail7,ingredient4,ingredient1,shaker1,left,right)
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STEP 27.1: grasp(right,shot3) leave(left,shaker1)
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STEP 28.0: clean-shot(shot3,ingredient4,right,left)
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STEP 28.1: grasp(left,shaker1) leave(right,shot3)
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STEP 29.0: grasp(right,shot8) pour-shaker-to-shot(cocktail7,shot3,left,shaker1,l2,l1)
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STEP 29.1: leave(left,shaker1)
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STEP 30.0: fill-shot(shot8,ingredient1,right,left,dispenser1)
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STEP 30.1: grasp(left,shot10) leave(right,shot8)
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STEP 31: clean-shot(shot10,ingredient1,left,right)
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STEP 32.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 32.1: grasp(right,shaker1) leave(left,shot10)
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STEP 33: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 34.0: clean-shaker(right,left,shaker1)
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STEP 34.1: grasp(left,shot8) leave(right,shaker1)
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STEP 35.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 35.1: leave(left,shot8)
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STEP 36.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot5,ingredient2,shaker1,right,l1,l2)
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STEP 36.1: leave(right,shot5)
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STEP 37: shake(cocktail4,ingredient2,ingredient1,shaker1,left,right)
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STEP 38: empty-shaker(left,shaker1,cocktail4,l2,l0)
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STEP 39.0: clean-shaker(left,right,shaker1)
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STEP 39.1: grasp(right,shot6) leave(left,shaker1)
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STEP 40.0: fill-shot(shot6,ingredient1,right,left,dispenser1)
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STEP 40.1: grasp(left,shot8)
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STEP 41.0: pour-shot-to-clean-shaker(shot6,ingredient1,shaker1,right,l0,l1)
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STEP 41.1: leave(right,shot6)
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STEP 42.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 42.1: grasp(right,shot10) leave(left,shot8)
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STEP 43.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 43.1: leave(right,shot10)
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STEP 44: shake(cocktail4,ingredient2,ingredient1,shaker1,left,right)
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STEP 45.0: empty-shaker(left,shaker1,cocktail4,l2,l0)
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STEP 45.1: leave(left,shaker1)
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STEP 46: grasp(right,shaker1)
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STEP 47.0: clean-shaker(right,left,shaker1)
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STEP 47.1: grasp(left,shot10) leave(right,shaker1)
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STEP 48.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 48.1: grasp(right,shaker1) leave(left,shot10)
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STEP 49: grasp(left,shot8) leave(right,shaker1)
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STEP 50.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 50.1: leave(left,shot8)
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STEP 51.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 51.1: leave(right,shot10)
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STEP 52: shake(cocktail1,ingredient1,ingredient2,shaker1,left,right)
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STEP 53.0: pour-shaker-to-shot(cocktail1,shot4,left,shaker1,l2,l1)
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STEP 53.1: leave(left,shaker1)
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STEP 54: grasp(left,shot10) grasp(right,shaker1)
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STEP 55.0: empty-shaker(right,shaker1,cocktail1,l1,l0)
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STEP 55.1: leave(right,shaker1)
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STEP 56.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 56.1: grasp(right,shot5) leave(left,shot10)
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STEP 57.0: clean-shot(shot5,ingredient2,right,left)
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STEP 57.1: grasp(left,shot8) leave(right,shot5)
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STEP 58.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 58.1: grasp(right,shot7) leave(left,shot8)
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STEP 59.0: fill-shot(shot7,ingredient1,right,left,dispenser1)
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STEP 59.1: grasp(left,shaker1) leave(right,shot7)
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STEP 60.0: clean-shaker(left,right,shaker1)
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STEP 60.1: grasp(right,shot7) leave(left,shaker1)
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STEP 61.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot7,ingredient1,shaker1,right,l0,l1)
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STEP 61.1: leave(right,shot7)
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STEP 62.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 62.1: leave(left,shot10)
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STEP 63.0: shake(cocktail4,ingredient2,ingredient1,shaker1,right,left)
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STEP 63.1: grasp(left,shot6)
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STEP 64: pour-shaker-to-shot(cocktail4,shot5,right,shaker1,l2,l1)
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STEP 65.0: empty-shaker(right,shaker1,cocktail4,l1,l0)
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STEP 65.1: leave(right,shaker1)
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STEP 66.0: clean-shot(shot6,ingredient1,left,right)
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STEP 66.1: grasp(right,shaker1) leave(left,shot6)
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STEP 67.0: clean-shaker(right,left,shaker1)
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STEP 67.1: grasp(left,shot8) leave(right,shaker1)
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STEP 68.0: grasp(right,shot6) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 68.1: leave(left,shot8)
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STEP 69.0: fill-shot(shot6,ingredient4,right,left,dispenser4)
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STEP 69.1: grasp(left,shaker1)
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STEP 70.0: leave(left,shaker1) pour-shot-to-used-shaker(shot6,ingredient4,shaker1,right,l1,l2)
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STEP 70.1: leave(right,shot6)
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STEP 71: grasp(right,shaker1)
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STEP 72.0: shake(cocktail2,ingredient1,ingredient4,shaker1,right,left)
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STEP 72.1: grasp(left,shot6) leave(right,shaker1)
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STEP 73.0: clean-shot(shot6,ingredient4,left,right)
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STEP 73.1: grasp(right,shaker1) leave(left,shot6)
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STEP 74.0: grasp(left,shot10) pour-shaker-to-shot(cocktail2,shot6,right,shaker1,l2,l1)
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STEP 74.1: leave(right,shaker1)
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STEP 75.0: clean-shot(shot10,ingredient2,left,right)
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STEP 75.1: grasp(right,shaker1)
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STEP 76.0: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 76.1: leave(right,shaker1)
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STEP 77.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 77.1: grasp(right,shaker1) leave(left,shot10)
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STEP 78.0: clean-shaker(right,left,shaker1)
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STEP 78.1: grasp(left,shot8) leave(right,shaker1)
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STEP 79.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 79.1: grasp(right,shot10)
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STEP 80.0: leave(right,shot10) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 80.1: leave(left,shot8)
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STEP 81: grasp(left,shot10) grasp(right,shot7)
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STEP 82.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 82.1: leave(left,shot10)
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STEP 83.0: clean-shot(shot7,ingredient1,right,left)
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STEP 83.1: grasp(left,shot9) leave(right,shot7)
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STEP 84.0: clean-shot(shot9,ingredient3,left,right)
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STEP 84.1: grasp(right,shaker1) leave(left,shot9)
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STEP 85: shake(cocktail8,ingredient2,ingredient1,shaker1,right,left)
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STEP 86.0: pour-shaker-to-shot(cocktail8,shot7,right,shaker1,l2,l1)
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STEP 86.1: leave(right,shaker1)
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STEP 87: grasp(left,shaker1)
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STEP 88.0: pour-shaker-to-shot(cocktail8,shot9,left,shaker1,l1,l0)
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STEP 88.1: leave(left,shaker1)
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STEP 89: grasp(left,shot10) grasp(right,shaker1)
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STEP 90.0: empty-shaker(right,shaker1,cocktail8,l0,l0)
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STEP 90.1: leave(right,shaker1)
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STEP 91: clean-shot(shot10,ingredient2,left,right)
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STEP 92.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 92.1: grasp(right,shaker1) leave(left,shot10)
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STEP 93.0: clean-shaker(right,left,shaker1)
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STEP 93.1: grasp(left,shot8) leave(right,shaker1)
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STEP 94: clean-shot(shot8,ingredient1,left,right)
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STEP 95.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 95.1: grasp(right,shot10)
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STEP 96.0: empty-shot(left,shot8,ingredient1) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,right,l0,l1)
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STEP 96.1: leave(left,shot8)
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STEP 97.0: clean-shot(shot10,ingredient2,right,left)
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STEP 97.1: leave(right,shot10)
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STEP 98: grasp(left,shot10) grasp(right,shaker1)
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STEP 99: leave(right,shaker1)
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STEP 100.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 100.1: grasp(right,shaker1)
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STEP 101.0: pour-shot-to-used-shaker(shot10,ingredient3,shaker1,left,l1,l2)
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STEP 101.1: leave(left,shot10)
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STEP 102.0: shake(cocktail3,ingredient2,ingredient3,shaker1,right,left)
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STEP 102.1: grasp(left,shot8) leave(right,shaker1)
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STEP 103.0: clean-shot(shot8,ingredient1,left,right)
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STEP 103.1: grasp(right,shaker1)
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STEP 104: pour-shaker-to-shot(cocktail3,shot8,right,shaker1,l2,l1)
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241 actions in the plan.
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Cost of the plan is 430.
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total time 33.23 preprocess 0.04
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total size 2.240 GB
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max. learned clause length 10589
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t val conflicts decisions
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0 0 0 0
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5 0 59 59
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10 0 861 909
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15 0 3889 4725
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20 -1 20375 27003
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25 -1 18386 27072
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30 -1 16584 26182
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35 -1 14895 25028
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40 -1 13394 23020
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45 -1 12077 21896
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50 -1 10879 20592
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55 -1 9798 19315
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60 -1 8833 18172
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65 -1 7933 16492
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70 -1 7152 15304
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75 -1 6437 13868
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80 -1 5832 12248
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85 -1 5232 11685
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90 -1 4750 9802
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95 -1 4267 9435
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100 -1 3849 7942
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105 1 3468 7452
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